Radar transmission interval randomization radar transmission

Abstract

Certain aspects provide a method for performing radar detection by an apparatus. The method includes transmitting a radar waveform at a transmit time interval (TTI) to perform detection of a target object. The method also includes changing the radar waveform across the TTI based on one or more radar transmit parameters.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Patent Application No. 16 / 437,118, filed on June 11, 2019, which claims the benefit of and priority to U.S. Provisional Patent Application Serial No. 62 / 700,458, filed on July 19, 2018, both of which are expressly incorporated herein by reference as if fully set forth below and for all applicable purposes. Technical Field

[0003] Aspects of the present disclosure relate to wireless communications and, more particularly, to techniques for performing transmit time interval (TTI) randomized radar transmissions. Background Art

[0004] Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, broadcast, etc. These wireless communication systems may employ multiple access technologies capable of supporting communication with multiple users by sharing available system resources (e.g., bandwidth, transmit power, etc.). Examples of such multiple access systems include 3rd Generation Partnership Project (3GPP) Long Term Evolution (LTE) systems, Advanced LTE (LTE-A) systems, Code Division Multiple Access (CDMA) systems, Time Division Multiple Access (TDMA) systems, Frequency Division Multiple Access (FDMA) systems, Orthogonal Frequency Division Multiple Access (OFDMA) systems, Single Carrier Frequency Division Multiple Access (SC-FDMA) systems, and Time Division Synchronous Code Division Multiple Access (TD-SCDMA) systems, to name a few.

[0005] In some examples, a wireless multiple access communication system may include multiple base stations (BSs), each of which is capable of simultaneously supporting communications for multiple communication devices (or referred to as user equipment (UE)). In an LTE or LTE-A network, a set of one or more base stations may define an eNodeB (eNB). In other examples (e.g., in a next generation, new radio (NR) or 5G network), a wireless multiple access communication system may include multiple distributed units (DUs) (e.g., edge units (EUs), edge nodes (ENs), radio heads (RHs), smart radio heads (SRHs), transmit receive points (TRPs), etc.) communicating with multiple central units (CUs) (e.g., central nodes (CNs), access node controllers (ANCs), etc.), wherein a set of one or more distributed units communicating with a central unit may define an access node (e.g., may be referred to as a base station, 5G NB, next generation NodeB (gNB or gNodeB), TRP, etc.). A base station or distributed unit may communicate with a set of UEs on a downlink channel (e.g., for sending from a base station or to a UE) and an uplink channel (e.g., for sending from a UE to a base station or distributed unit).

[0006] These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate at municipal, national, regional and even global scales. New Radio (NR) (e.g., 5G) is an example of an emerging telecommunication standard. NR is an enhanced set of LTE mobile standards promulgated by 3GPP. It is designed to better support mobile broadband Internet access by improving spectrum efficiency, reducing costs, improving services, utilizing new spectrum, and using OFDMA with cyclic prefix (CP) on the downlink (DL) and on the uplink (UL) to better integrate with other open standards. To this end, NR supports beamforming, multiple-input multiple-output (MIMO) antenna technology and carrier aggregation.

[0007] Vehicle-to-everything (V2X) communication attempts to enable vehicles to communicate with each other to provide a range of services, including vehicle-to-vehicle communication (V2V), vehicle-to-infrastructure (V2I), vehicle-to-grid (V2G), and vehicle-to-person (V2P).

[0008] Radar detection systems complement V2X communications. Radar-based detection systems use electromagnetic waveforms for a variety of reasons, including enhanced navigation and obstacle avoidance. Radar-based detection systems play an increasingly important role in the move toward driverless vehicles. However, as more and more vehicles deploy radar-based detection systems, interference becomes a greater problem. Therefore, improvements to radar-based detection systems are needed. Summary of the invention

[0009] The systems, methods, and devices of the present disclosure each have several aspects, no single one of which is solely responsible for its desirable attributes. Without limiting the scope of the present disclosure as expressed by the appended claims, some features will now be briefly discussed. After considering this discussion, and particularly after reading the section entitled "Detailed Description," one will understand how the features of the present disclosure provide the advantages of improved communication between access points and base stations, including in a wireless network.

[0010] Certain aspects provide a method for performing radar detection by an apparatus. The method includes transmitting a radar waveform at a transmit time interval (TTI) to perform detection of a target object. The method also includes changing the radar waveform across the TTI based on one or more radar transmission parameters.

[0011] Certain aspects provide a component for performing radar detection by an apparatus. The apparatus includes a component for transmitting a radar waveform at a transmit time interval (TTI) to perform detection of a target object. The apparatus also includes a component for changing the radar waveform across the TTI based on one or more radar transmit parameters.

[0012] Certain aspects provide a non-transitory computer-readable storage medium storing instructions that, when executed by a processor of a device, cause the device to perform a method of radar detection. The method includes transmitting a radar waveform at a transmit time interval (TTI) to perform detection of a target object. The method also includes changing the radar waveform across the TTI based on one or more radar transmit parameters.

[0013] Certain aspects provide a radar detection device, the radar detection device comprising a memory and a processor. The processor is configured to cause the radar detection device to transmit a radar waveform at a transmission time interval (TTI) to perform detection of a target object. The processor is also configured to cause the radar detection device to change the radar waveform across the TTI based on one or more radar transmission parameters.

[0014] To achieve the aforementioned and related purposes, one or more aspects include features fully described below and particularly pointed out in the claims. The following description and the accompanying drawings set forth in detail certain illustrative features of one or more aspects. However, these features are only indicative of several of the various ways in which the principles of the various aspects can be employed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order that the above features of the present disclosure may be understood in detail, a more specific description may be briefly summarized above with reference to various aspects, some of which are illustrated in the accompanying drawings. However, it should be noted that the accompanying drawings only illustrate certain typical aspects of the present disclosure and are therefore not to be considered as limiting the scope thereof, as the description may allow for other equally effective aspects.

[0016] Figure 1 is a block diagram conceptually illustrating an example telecommunications system in accordance with certain aspects of the present disclosure.

[0017] Figure 2 is a block diagram conceptually illustrating designs of example base stations (BSs) and user equipment (UEs) in accordance with certain aspects of the present disclosure.

[0018] Figure 3A and 3B Certain V2X communications according to certain aspects of the present disclosure are shown.

[0019] Figure 4A and 4B A transmitted FM-CM radar waveform is shown in accordance with certain aspects of the present disclosure.

[0020] Figure 5 A received FM-CM radar waveform is shown in accordance with certain aspects of the present disclosure.

[0021] Figure 6Extrapolation of data from transmitted and received FM-CM radar waveforms is shown.

[0022] Figure 7 Radar detection in accordance with certain aspects of the present disclosure is shown.

[0023] Figure 8 A radar waveform is shown in accordance with certain aspects of the present disclosure.

[0024] Fig. 9 A block diagram illustrating a method of radar detection according to certain aspects of the present disclosure is shown.

[0025] Fig.10 A transmit time interval randomized radar waveform is shown in accordance with certain aspects of the present disclosure.

[0026] Fig.11 A communication device according to aspects of the present disclosure is shown, which may include various components configured to perform operations for the techniques disclosed herein.

[0027] To facilitate understanding, like reference numerals have been used, where appropriate, to designate like elements that are common to the figures. It is contemplated that elements disclosed in one aspect may be beneficially utilized in other aspects without specific recitation. DETAILED DESCRIPTION

[0028] Aspects of the present disclosure provide apparatus, methods, processing systems, and computer-readable media for transmitting time interval randomized radar transmissions.

[0029] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Without departing from the scope of the present disclosure, the functions and arrangements of the elements discussed may be changed. Various examples may omit, replace or add various programs or components as appropriate. For example, the method may be performed in an order different from the order described, and various steps may be added, omitted and / or combined. Moreover, the features described in some examples may be combined in some other examples. For example, a device may be implemented or a method may be practiced using any number of aspects set forth herein. In addition, the scope of the present disclosure is intended to cover this device or method, using other structures, functionalities or structures and functionalities that supplement or replace the various aspects of the present disclosure set forth herein to practice the device or method. It should be understood that any aspect of the present disclosure disclosed herein may be embodied by one or more elements of the claims. The word "exemplary" is used herein to mean "used as an example, instance or illustration". Any aspect described as "exemplary" herein is not necessarily interpreted as being more preferred or more advantageous than other aspects.

[0030] The technology described herein can be used for various wireless communication technologies, such as LTE, CDMA, TDMA, FDMA, OFDMA, SC-FDMA and other networks. The terms "network" and "system" are generally used interchangeably. A CDMA network can implement radio technologies such as Universal Terrestrial Radio Access (UTRA), cdma2000, etc. UTRA includes other variants of Wideband CDMA (WCDMA) and CDMA. cdma2000 covers IS-2000, IS-95 and IS-856 standards. A TDMA network can implement radio technologies such as Global System for Mobile Communications (GSM). An OFDMA network can implement radio technologies such as NR (e.g., 5G RA), Evolved UTRA (E-UTRA), Ultra Mobile Broadband (UMB), IEEE 802.11 (WiFi), IEEE 802.16 (WiMAX), IEEE 802.20, Flash-OFDMA, etc. UTRA and E-UTRA are part of Universal Mobile Telecommunications System (UMTS).

[0031] New Radio (NR) is an emerging wireless communication technology developed in conjunction with the 5G Technology Forum (5GTF). 3GPP Long Term Evolution (LTE) and Advanced LTE (LTE-A) are versions of UMTS that use EUTRA. UTRA, E-UTRA, UMTS, LTE, LTE-A, and GSM are described in documents from an organization named "3rd Generation Partnership Project" (3GPP). cdma2000 and UMB are described in documents from an organization named "3rd Generation Partnership Project 2" (3GPP2). The techniques described herein can be used for the wireless networks and radio technologies mentioned above as well as other wireless networks and radio technologies. For clarity, although terms commonly associated with 3G and / or 4G wireless technologies may be used herein to describe various aspects, various aspects of the present disclosure may be applied to other communication systems based on generations, such as 5G and subsequent versions, including NR technologies.

[0032] New Radio (NR) access (e.g., 5G technology) can support various wireless communication services, such as enhanced mobile broadband (eMBB) targeting broadband (e.g., 80 MHz or higher), millimeter wave (mmW) targeting high carrier frequency (e.g., 25 GHz or higher), massive machine type communication MTC (mMTC) targeting non-backward compatible MTC technology, and / or mission critical targeting ultra-reliable low latency communication (URLLC). These services may include latency and reliability requirements. These services may also have different transmit time intervals (TTIs) to meet corresponding quality of service (QoS) requirements. In addition, these services can coexist in the same subframe.

[0033] Example Wireless Communication System

[0034] Figure 1 An example wireless communication network 100 is shown in which aspects of the present disclosure may be performed. For example, the wireless communication network 100 may be a new radio (NR) or 5G network. The NR wireless communication system may be used to transmit radar detection system information (e.g., codebooks (e.g., radar transmission parameter codebooks), sensor information (e.g., radar transmission parameters), etc.) to facilitate radar transmissions with randomized transmission time intervals. For example, Figure 1 As shown, according to various aspects described herein, user equipment (UE) 120a and 120b include a radar detection module configured for object detection and a V2X module configured for sidelink communication between two or more UEs (e.g., UE 120a and UE 120b). In addition, base station (BS) 110a includes a radar detection module configured to support transmitting radar transmission parameters to the UE. In some configurations, BS 110a may also support V2X communication between one or more UEs (e.g., UE 120a and UE 120b).

[0035] like Figure 1 As shown, the wireless network 100 may include multiple base stations (BS) 110 and other network entities. The BS may be a base station that communicates with a user equipment (UE). Each BS 110 may provide communication coverage for a specific geographic area. In 3GPP, the term "cell" may refer to the coverage area of ​​a node B (NB) and / or a node B subsystem serving the coverage area, depending on the context in which the term is used. In the NR system, the term "cell" and the next generation NodeB (gNB), new radio base station (NR BS), 5G NB, access point (AP) or transmit receive point (TRP) may be interchangeable. In some examples, the cell may not necessarily be fixed, and the geographical area of ​​the cell may move according to the location of the mobile BS. In some examples, the base station may be interconnected with each other and / or with one or more other base stations or network nodes (not shown) in the wireless communication network 100 using any suitable transmission network through various types of backhaul interfaces such as direct physical connection, wireless connection, virtual network, etc.

[0036] Typically, any number of wireless networks can be deployed in a given geographic area. Each wireless network can support a specific radio access technology (RAT) and can operate on one or more frequencies. RAT can also be referred to as radio technology, air interface, etc. Frequency can also be referred to as carrier, subcarrier, frequency channel, frequency band (tone), subband, etc. Each frequency can support a single RAT in a given geographic area to avoid interference between wireless networks of different RATs. In some cases, NR or 5G RAT networks can be deployed.

[0037] A base station (BS) may provide communication coverage for macro cells, pico cells, femto cells, and / or other types of cells. A macro cell may cover a relatively large geographic area (e.g., a radius of several kilometers) and may allow unrestricted access to UEs with service subscriptions. A pico cell may cover a relatively small geographic area and may allow unrestricted access to UEs with service subscriptions. A femto cell may cover a relatively small geographic area (e.g., a home) and may allow unrestricted access to UEs associated with the femto cell (e.g., UEs in a closed subscriber group (CSG), UEs of home users, etc.). A BS for a macro cell may be referred to as a macro BS. A BS for a pico cell may be referred to as a pico BS. A BS for a femto cell may be referred to as a femto BS or a home BS. In Figure 1 In the illustrated example, BSs 110a, 110b, and 110c may be macro BSs for macro cells 102a, 102b, and 102c, respectively. BS 110x may be a pico BS for pico cell 102x. BSs 110y and 110z may be femto BSs for femto cells 102y and 102z, respectively. A BS may support one or more (e.g., three) cells.

[0038] The wireless communication network 100 may also include a relay station. A relay station is a station that receives data and / or other information from an upstream station (e.g., a BS or a UE) and sends data and / or other information to a downstream station (e.g., a UE or a BS). A relay station may also be a UE that relays transmissions for other UEs. Figure 1 In the example shown, a relay station 110r may communicate with the BS 110a and the UE 120r to facilitate communication between the BS 110a and the UE 120r. A relay station may also be referred to as a relay BS, a relay, or the like.

[0039] The wireless network 100 may be a heterogeneous network including different types of BSs (e.g., macro BSs, pico BSs, femto BSs, repeaters, etc.). These different types of BSs may have different transmit power levels, different coverage areas, and different effects on interference in the wireless network 100. For example, a macro BS may have a high transmit power level (e.g., 20 watts), while a pico BS, a femto BS, and a repeater may have a lower transmit power level (e.g., 1 watt).

[0040] The wireless communication network 100 may support synchronous or asynchronous operation. For synchronous operation, the BSs may have similar frame timings, and transmissions from different BSs may be approximately aligned in time. For asynchronous operation, the BSs may have different frame timings, and transmissions from different BSs may not be aligned in time. The techniques described herein may be used for both synchronous and asynchronous operation.

[0041] A network controller 130 may couple to a set of BSs and provide coordination and control for these BSs. The network controller 130 may communicate with the BSs 110 via a backhaul. The BSs 110 may also communicate with each other (eg, directly or indirectly) via a wireless or wired backhaul.

[0042] UE 120 (e.g., 120x, 120y, etc.) may be dispersed throughout the wireless network 100, and each UE may be fixed or mobile. UE may also be referred to as a mobile station, terminal, access terminal, subscriber unit, station, customer premises equipment (CPE), cellular phone, smart phone, personal digital assistant (PDA), wireless modem, wireless communication device, handheld device, laptop computer, cordless phone, wireless local loop (WLL) station, tablet computer, camera, gaming device, netbook, smartbook, ultrabook, appliance, medical device / medical equipment, biometric sensor / device, wearable device (such as smart watch, smart clothing, smart glasses, smart wristband, smart jewelry (e.g., smart ring, smart bracelet, etc.)), entertainment device (e.g., music device, video device, satellite radio, etc.), vehicle component or sensor, smart meter / sensor, industrial manufacturing equipment, global positioning system device, or any other suitable device configured to communicate via wireless or wired medium. Some UEs may be considered as machine type communication (MTC) devices or evolved MTC (eMTC) devices. MTC and eMTC UEs include, for example, robots, drones, remote devices, sensors, meters, monitors, location tags, etc. that can communicate with a BS, another device (e.g., a remote device), or some other entity. A wireless node can provide connectivity to or with a network (e.g., a wide area network such as the Internet or a cellular network) via a wired or wireless communication link. Some UEs can be considered Internet of Things (IoT) devices, which can be narrowband IoT (NB-IoT) devices.

[0043] Some wireless networks (e.g., LTE) utilize orthogonal frequency division multiplexing (OFDM) on the downlink and single carrier frequency division multiplexing (SC-FDM) on the uplink. OFDM and SC-FDM divide the system bandwidth into multiple (K) orthogonal subcarriers, which are also commonly referred to as frequency bands, frequency points, etc. Each subcarrier can be modulated with data. Typically, modulation symbols are sent in the frequency domain using OFDM and in the time domain using SC-FDM. The spacing between adjacent subcarriers can be fixed, and the total number of subcarriers (K) can depend on the system bandwidth. For example, the spacing of the subcarriers can be 15kHz, and the minimum resource allocation (referred to as a "resource block" (RB)) can be 12 subcarriers (or 180kHz). Therefore, for system bandwidths of 1.25, 2.5, 5, 10, or 20 megahertz (MHz), the nominal fast Fourier transform (FFT) size can be equal to 128, 256, 512, 1024, or 2048, respectively. The system bandwidth can also be divided into subbands. For example, one subband may cover 1.08 MHz (ie, 6 resource blocks), and there may be 1, 2, 4, 8, or 16 subbands for system bandwidths of 1.25, 2.5, 5, 10, or 20 MHz, respectively.

[0044] Although aspects of the examples described herein may be associated with LTE technology, aspects of the present disclosure may be applicable to other wireless communication systems, such as NR. NR may utilize OFDM with CP on both the uplink and downlink, and include support for half-duplex operation using TDD. Beamforming may be supported and the beam direction may be dynamically configured. MIMO transmission with precoding may also be supported. MIMO configurations in the DL may support up to 8 transmit antennas, with multi-layer DL transmissions having up to 8 streams and up to 2 streams per UE. Multi-layer transmissions with up to 2 streams per UE may be supported. Aggregation of multiple cells may be supported with up to 8 serving cells.

[0045] In some examples, access to the air interface can be scheduled, where a scheduling entity (e.g., a base station) allocates resources for communication between some or all devices and devices within its service area or cell. The scheduling entity may be responsible for scheduling, assigning, reconfiguring, and releasing resources for one or more subordinate entities. That is, for scheduling communications, subordinate entities utilize resources allocated by the scheduling entity. The base station is not the only entity that can act as a scheduling entity. In some examples, a UE may act as a scheduling entity, and resources for one or more subordinate entities (e.g., one or more other UEs) may be scheduled, and other UEs may use the resources scheduled by the UE for wireless communications. In some examples, a UE may act as a scheduling entity in a peer-to-peer (P2P) network and / or a mesh network. In a mesh network example, in addition to communicating with a scheduling entity, UEs may also communicate directly with each other.

[0046] exist Figure 1 In FIG. 1 , a solid line with double arrows indicates desired transmissions between a UE and a serving BS, which is a BS designated to serve the UE on a downlink and / or uplink. A thin dashed line with double arrows indicates interfering transmissions between a UE and a BS.

[0047] Figure 2 BS 110 and UE 120 (eg Figure 1 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67

[0048] At BS 110, a transmit processor 220 may receive data from a data source 412 and control information from a controller / processor 240. The control information may be for a physical broadcast channel (PBCH), a physical control format indicator channel (PCFICH), a physical hybrid ARQ indicator channel (PHICH), a physical downlink control channel (PDCCH), a group common PDCCH (GC PDCCH), etc. The data may be for a physical downlink shared channel (PDSCH), etc. The processor 220 may process the data and control information (e.g., encode and symbol map them) to obtain data symbols and control symbols, respectively. The processor 220 may also generate reference symbols, such as for a primary synchronization signal (PSS), a secondary synchronization signal (SSS), and a cell-specific reference signal (CRS). A transmit (TX) multiple-input multiple-output (MIMO) processor 230 may perform spatial processing (e.g., precoding) on ​​data symbols, control symbols, and / or reference symbols (if applicable), and may provide output symbol streams to modulators (MODs) 232a to 232t. Each modulator 232 can process a corresponding output symbol stream (e.g., for OFDM, etc.) to obtain an output sample stream. Each modulator can further process the output sample stream (e.g., convert it to analog, amplify it, filter it, and upconvert it) to obtain a downlink signal. The downlink signals from modulators 232a to 232t can be transmitted via antennas 234a to 234t, respectively.

[0049] At the UE 120, antennas 252a through 252r may receive downlink signals from the base station 110 and may provide received signals to demodulators (DEMODs) in transceivers 254a through 254r, respectively. Each demodulator 254 may condition (e.g., filter, amplify, downconvert, and digitize) a respective received signal to obtain input samples. Each demodulator may further process the input samples (e.g., for OFDM, etc.) to obtain received symbols. A MIMO detector 256 may obtain received symbols from all demodulators 254a through 254r, perform MIMO detection on the received symbols (if applicable), and provide detected symbols. A receive processor 258 may process (e.g., demodulate, deinterleave, and decode) the detected symbols, provide decoded data for the UE 120 to a data sink 260, and provide decoded control information to a controller / processor 280.

[0050] On the uplink, at the UE 120, a transmit processor 264 may receive and process data from a data source 262 (e.g., for a physical uplink shared channel (PUSCH)) and control information from a controller / processor 280 (e.g., for a physical uplink control channel (PUCCH)). The transmit processor 264 may also generate reference symbols for reference signals (e.g., for a sounding reference signal (SRS)). The symbols from the transmit processor 264 may be precoded by a TX MIMO processor 266 (if applicable), further processed by a demodulator in the transceivers 254a through 254r (e.g., for SC-FDM, etc.), and transmitted to the base station 110. At the BS 110, the uplink signals from the UE 120 may be received by the antenna 234, processed by the modulator 232, detected by the MIMO detector 236 (if applicable), and further processed by the receive processor 238 to obtain decoded data and control information transmitted by the UE 120. The receive processor 238 may provide the decoded data to a data sink 239 and the decoded control information to the controller / processor 240 .

[0051] Controllers / processors 240 and 280 may be used to control operations at base station 110 and UE 120, respectively. In some configurations, controller / processor 240 of BS 110 includes radar detection module 292, which is configured to support transmitting radar transmission parameters to one or more UEs. In some configurations, according to various aspects described herein, controller / processor 280 of UE 120 includes radar detection and V2X 290 circuits, which are configured for object detection and sidelink communication between two or more UEs (e.g., UE 120a and UE 120b). Processor 240 and / or other processors and modules at BS 110 may perform or direct the execution of processes for the techniques described herein. Memories 242 and 282 may store data and program codes for BS 110 and UE 120, respectively. Scheduler 244 may schedule UEs to transmit data on downlink and / or uplink.

[0052] Example radar transmission interval randomization radar transmission

[0053] Radio detection and ranging (radar) is a complementary technology to vehicle-to-everything (V2X) communications that enhances road safety and driving experience. Radar uses electromagnetic waveforms to detect objects and determine information, such as their relative speed and position. Vehicles can use radar to enhance a variety of technologies. For example, radar can enable advanced navigation technologies, such as accident avoidance and autonomous driving operations. According to certain aspects of the present disclosure, a radar detection system can be interfaced with or incorporated into a V2X communication system.

[0054] V2X communications include, among other things, vehicle-to-vehicle (V2V) communications. In some cases, two or more vehicles (e.g., UEs) may communicate with each other using sidelink signals. Practical applications of such sidelink communications may include public safety, proximity services, UE-to-network relay, Internet of Everything (IoE) communications, IoT communications, mission-critical mesh networks, and / or various other suitable applications. Typically, a sidelink signal refers to a signal transmitted from one entity (e.g., a vehicle or UE) to another entity (e.g., a second vehicle or UE) without relaying the transmitted signal through a scheduling entity (e.g., a gNB), even if the scheduling entity may be used for scheduling and / or control purposes. In some examples, licensed spectrum (unlike wireless local area networks that typically use unlicensed spectrum) may be used to transmit sidelink signals.

[0055] Figure 3A and 3B A V2X system is depicted in two complementary transmission modes. Figure 3A A first transmission mode is shown using direct communication between participants in a local area. Figure 3B A second transmission mode is shown using network communications through a network such as an eNodeB.

[0056] like Figure 3A As shown, the first transmission mode allows direct communication between different participants in a given geographic location. For example, a vehicle can communicate with a person (V2P) (e.g., via a PC5 interface). A vehicle can also communicate with another vehicle (V2V) (e.g., via a PC5 interface). Highway components (such as traffic lights or other infrastructure) can also be connected to the vehicle via (V2I) communication. In each embodiment, each element can be a transmitter and a receiver and can communicate in both directions. In the configuration provided, the first transmission mode is a self-managed system and does not require network assistance to facilitate data exchange. Since network service interruptions do not occur during switching operations of mobile vehicles, such transmission modes provide reduced costs and increased reliability. Certain resource assignments for communication may also not require coordination between operators. In addition, a subscription network is not required.

[0057] In certain aspects, the V2X system is configured to operate on the 5.9 GHz spectrum so that any vehicle equipped with the system can access this common frequency and share information (e.g., codebooks (e.g., radar transmit parameter codebooks), sensor information (e.g., radar transmit parameters), etc. V2X operations may also use other frequencies for communication (e.g., using 802.11p-based communications). In one aspect, the V2X system may operate in a 10 MHz band that describes / includes basic safety services. In other aspects, the V2X system may operate on a wider frequency band.

[0058] exist Figure 3B , the second of the two complementary transmission modes is shown. In some aspects, a vehicle can communicate with another vehicle via network communications. These network communications can occur through discrete nodes (such as eNodeBs) that send and receive information between the vehicle and the network. Network communications can be used for remote communications between vehicles, such as noting the presence of an accident mile ahead. Nodes can send other types of communications to vehicles, such as traffic flow status, road hazard warnings, environmental / weather reports, service station availability, radar detection system information (e.g., codebooks, sensor information, etc.), to name a few examples. Data can also be obtained from cloud-based shared services. Residential service units (RSUs) and 4G / 5G small cell communication technologies can be utilized to benefit in areas with higher coverage to allow real-time information to be shared between V2X users. As the number of RSUs decreases, V2X systems may rely more on small cell communications or other technologies.

[0059] Radar can provide data in a variety of conditions to improve the driving experience. Radar is able to operate day or night and from miles away. Radar can be used to identify multiple objects (e.g., cars, pedestrians, buildings, etc.) at the same time, even in adverse weather conditions. Radar systems transmit electromagnetic waves and receive their reflections off objects. By measuring the time delay between the transmitted waveform and the received waveform, the distance (or range) of the object from the transmitter can be determined.

[0060] For a fixed range radar system, distance (D) = (the time delay between the transmitted radar waveform and the received radar waveform multiplied by the radar waveform velocity (which can be approximated by 3x10 8 or (C). The transmitter and receiver may use the same antenna or multiple antennas and use circuits such as a duplexer to control input and output operations. In some aspects, it is impractical to use a monopulse radar system because it should be understood that for a ten-meter target, the time delay is less than 1 / 10 of a microsecond [(2*10) / (3*10 8 )=66 nanoseconds]. Therefore, another method of radar detection is to use a continuous wave (CW) radar waveform.

[0061] Unmodulated Continuous Wave (UM-CW) radar detection systems transmit a radar waveform at a constant frequency and use frequency changes in the received radar waveform to determine the speed of an object. UM-CW radar is not typically used to provide range because stationary objects do not produce frequency changes in the received radar waveform. UM-CW radar is often used in sports, for example, to determine the speed of a baseball or race car.

[0062] To obtain more information, frequency modulated continuous wave (FM-CW) radar can be used. Figure 4A Three FM-CW radar waveforms (or chirps) are depicted on a frequency-time scale. Chirp 402 has a first slope with a frequency (Fc) originating from zero (or zero offset). Chirp 404 has the same slope as chirp 402 and has a positive (Fc) offset. Chirp 406 has zero offset and a second slope (lower frequency increment for the same time increment) that is less than the first slope of chirp 402.

[0063] Figure 4B The amplitude-time scale is used to depict Figure 4AA linear frequency modulation pulse 402 is provided, wherein the frequency of the amplitude (Ac) oscillation increases during the linear frequency modulation pulse time. It should be understood that in some aspects, the phase of the linear frequency modulation pulse can be controlled to provide a desired phase. When the FM-CW linear frequency modulation pulse is received, it may experience a frequency change and a time delay, and thus can be used to simultaneously measure the relative range (e.g., using time delay) and speed (e.g., using frequency) of an object from the radar detection system.

[0064] Figure 5 Three graphs 500 are shown representing objects detected by one or more radar waveforms as described below. Radar waveform 502 depicts the detection of an object using a single linear frequency modulation pulse in an environment without interference. The signal-to-noise ratio is very ideal because the noise is shown as zero. It should be understood that the environment is rarely free of interference. Radar waveform 504 depicts the detection of an object using a single linear frequency modulation pulse in an environment with interference. It should be understood that the signal-to-noise ratio is poor because the interference is high, making the object detection poor. Radar waveform 506 depicts the same high interference environment as radar waveform 504; however, radar waveform 506 represents the coherent integration (or time domain averaging) using multiple linear frequency modulation pulses (e.g., 64 linear frequency modulation pulses). It should be understood that interference is generally random, and therefore using multiple linear frequency modulation pulses will not increase the interference signal because they are not coherently combined. However, it should be understood that the received radar signals incident on the object will coherently combine, thereby increasing the signal-to-noise ratio, as shown in radar waveform 506. As shown in FIG. Figure 5 As shown, the signal-to-noise ratio of signal 506 is better than that of signal 504 .

[0065] Figure 6 Certain aspects of a radar detection system 600 that uses an FM-CW radar waveform to provide both range and velocity using coherent integration are depicted. Figure 6 A transmitted FM-CW radar waveform 602 is included, which is a sawtooth radar waveform with a linearly increasing frequency for each chirp time (Tc). In some aspects, each Tc is approximately 25 microseconds. The time period Nc represents the time period for transmitting multiple chirps (e.g., 64 chirps) and is also referred to as a frame. It should be understood that other FM-CW waveforms, chirp times (Tc), and frame times (Nc) are also within the scope of the present disclosure.

[0066] Figure 6 Also included is a received radar waveform 604. The received radar waveform 604 is shown as being shifted to the right of the transmitted radar waveform 602 by a certain time delay. Figure 6As shown, although signal processing (e.g., performing a Fast Fourier Transform (FFT)) is performed, it will be appreciated that a range distribution can be determined. It will be further appreciated that by performing an FFT on the range distribution, a frequency shift (Doppler frequency) can be determined. It will be appreciated that a constant false alarm rate (CFAR) algorithm can be used for further signal processing to help detect objects from interference. The Doppler frequency can be used to determine the relative speed at which an object is moving, including zero. For example, a time delay can indicate that a target is 50 meters away, while a Doppler frequency can indicate that a target is moving away from a radar detection system at a speed of 1 meter per second.

[0067] As more radar detection systems are deployed, interference becomes a greater problem. For example, Figure 7 As shown, vehicle 702 is using a radar detection system (e.g., a radar detection system device connected to vehicle 702) and performing coherent integration to detect objects 704 and 706 using radar waveform 710. When vehicles 704 and 706 are not using radar detection, reflections from radar waveform 710 will coherently combine and the data will be used to successfully identify vehicles 704 and 706.

[0068] In other aspects, the vehicle 704 is also using a radar detection system (e.g., a radar detection system device integrated into the vehicle 704) and transmitting a radar waveform 720. Figure 7 , radar waveform 720 is a waveform substantially similar to radar waveform 710 (e.g., slope, offset, and phase). The radar detection system of vehicle 702 may receive radar waveform 720 and determine that radar waveform 720 is a reflected signal of radar waveform 710. In this case, the radar detection system of vehicle 702 determines that an object exists at half the distance from vehicle 704. It should be understood that the object is misidentified (or a ghost target). It should also be understood that since the strength of a radar signal is inversely proportional to the square of the distance from the source, the signal strength of radar waveform 720 measured at the radar detection system of vehicle 702 may be much stronger than the reflected signal of radar waveform 710. In some aspects, because radar waveform 720 is much stronger than the reflected signal of radar waveform 710, vehicle 702 cannot detect vehicle 706 in the high signal strength of radar waveform 720. Therefore, it is necessary to eliminate ghost target errors and improve the signal-to-noise ratio in a high interference environment.

[0069] Figure 8A series of graphs representing radar waveform 800a and radar waveform 800b on a frequency-time scale are shown. Radar waveform 800a includes a plurality of linear frequency modulation pulses 802a to 802n, each linear frequency modulation pulse 802 having a linear frequency modulation pulse time (Tc), and a plurality of linear frequency modulation pulses collectively having a frame time (Nc). In some aspects, Tc can be 25 microseconds and Nc can be a frame of 64 linear frequency modulation pulses, but without departing from the scope of the present disclosure, Tc and Nc can be shorter or longer (e.g., linear frequency modulation pulse Tc is 10 microseconds and frame Nc is 1024 linear frequency modulation pulses). Each linear frequency modulation pulse 802 has the same slope, offset and phase.

[0070] Radar waveform 800b includes a plurality of chirp pulses 804a to 804n, each chirp pulse having a different set of radar transmit parameters. The radar transmit parameters may include at least one of waveform parameters, antenna parameters, or modulation parameters.

[0071] The waveform parameters include at least one of slope, offset or phase. For example, Figure 8 Chirp 804a in FIG. 8 shows a first slope and no offset. Chirp 804b shows a positive offset and a slope greater than the slope in chirp 804a. Chirp 804n has the same slope as chirp 804a, except for the positive offset. The phase of the radar waveform may also be selected as a waveform parameter, either independently or in conjunction with any of chirps 804a through 804n.

[0072] Antenna parameters include at least one of beam form, polarization, or antenna selection. The beam form includes using at least one antenna to guide the propagation path of the radar waveform sent and received by the radar detection system. It should be understood that in some aspects, selecting a narrower beam form can reduce interference. For example, if two vehicles are driving next to each other on a highway, each vehicle can select antenna parameters of a narrow forward radar beam form to reduce potential interference from the radar detection system of nearby vehicles. In other cases, the vehicle can select antenna parameters of a wide radar beam form, for example to assist in autonomous driving operations.

[0073] Polarization antenna parameters may also be selected for similar reasons. For example, if a first vehicle's radar detection system uses first polarization antenna parameters in a certain area, a second vehicle may select second polarization antenna parameters to reduce interference in the same area.

[0074] Antenna selection antenna parameters include selecting one or more antennas for radar detection (e.g., to support beamforming or for spatial response). It should be understood that a radar detection system may have multiple antennas, each of which may not have the same spatial response to a radar waveform. Therefore, in some aspects, the radar detection system may select antenna selection parameters associated with an antenna that has lower interference than another antenna.

[0075] The modulation parameters include at least one of a time division multiplexing (TDM) parameter or a frequency division multiplexing (FDM) parameter. TDM can be used to define certain switching patterns of the radar waveform. FDM can be used to define certain frequency sub-bands of the radar waveform.

[0076] However, as more radar detection systems are deployed, the likelihood of overlapping radar waveforms increases. This is in part because waveform parameters such as the slope of a chirp may be limited to a certain number of slopes (e.g., due to hardware limitations). Therefore, according to certain aspects, a transmit time interval (TTI) randomization radar detection is performed.

[0077] Fig. 9 A method 900 for radar detection according to certain aspects of the present disclosure is provided. In certain aspects, the method 900 is performed by an apparatus according to certain aspects of the present disclosure. The apparatus may be an independent radar detection system connected to a device (e.g., a vehicle, a robot, a computing device, etc.) via a wireless connection (e.g., Bluetooth, WiFi, etc.) or physically integrated into the device (e.g., integrated into a vehicle electronic device during or after the manufacturing process). In other aspects, the apparatus may be connected or integrated into a second device (e.g., a second vehicle) and may be accessed by a first device (e.g., using V2X communication). For example, the first device may obtain useful radar information from the second device using V2X communication. Therefore, it should be understood that the first device and the second device may transmit information related to their respective radar detection systems between each other. It should also be understood that the apparatus may use its own processor to execute instructions stored on a memory (e.g., a local storage device, a cloud storage device, etc.), or it may use a shared processor (e.g., a processor shared by one or more other sensors or device components) to execute instructions. In other aspects, the apparatus includes more than one radar detection system that work together to perform the operations described in the present disclosure.

[0078] At block 902, a radar detection system transmits a radar waveform at a transmit time interval (TTI) (e.g., a chirp, a set of chirps, a frame, a time slot, etc.) to perform detection of a target object. At block 904, the radar detection system varies the radar waveform across a plurality of TTIs based on one or more radar transmit parameters.

[0079] Fig.10 A radar waveform 1000 is shown, which includes transmit time intervals (TTIs) 1002a to 1002n, each TTI 1002 having a transmit time (Tc), and multiple TTIs collectively having a TTI frame time (Nc). Each radar waveform within Tc can be referred to as a linear frequency modulation pulse 1004, and the radar waveform within Nc can be referred to as a frame including linear frequency modulation pulses 1004s (e.g., 64 linear frequency modulation pulses, 128 linear frequency modulation pulses, 256 linear frequency modulation pulses, 1024 linear frequency modulation pulses, etc.).

[0080] Fig.10 Each chirp 1004 of radar waveform 1000 is also shown as being transmitted using different radar transmit parameters. For example, chirp 1004a is a chirp configured with a zero offset and a first slope. Chirp 1004b is a chirp configured with a positive offset and uses the same slope as the first slope. Chirp 1004n is a chirp configured with a zero offset and a second slope that is higher than the first slope of chirps 1004a and 1004b.

[0081] Each TTI is based on one or more radar transmit parameters (e.g., waveform parameters, antenna parameters, or modulation parameters). In some aspects, radar waveform 1000 varies substantially randomly each TTI. It should be understood that in some aspects, two or more TTIs in a substantially randomized radar waveform can have the same radar transmit parameters (e.g., two or more consecutive TTIs) without departing from the scope of the present disclosure.

[0082] In certain aspects, radar waveform 1000 is substantially randomly varied every TTI using one or more radar transmit parameters selected to orthogonalize, suppress, or shape interference. In other aspects, one or more radar transmit parameters are selected based on radar transmit parameters designed to ensure low mutual interference (e.g., a codebook of radar transmit parameters).

[0083] It should be understood that the radar detection system itself (or using V2X) can identify which radar transmission parameters exhibit lower interference than other radar transmission parameters. In some aspects, when the radar waveform 1000 is changed substantially randomly every TTI and certain TTIs are associated with low interference, the radar detection system can select one or more radar transmission parameters associated with low interference for future TTIs. For example, a vehicle can be connected to a radar detection system that transmits a radar waveform in a TTI and changes the radar waveform substantially randomly across TTIs based on one or more radar transmission parameters. In this case, the vehicle uses a codebook obtained through V2X communication to substantially randomly change the radar transmission parameters. In some aspects, as the radar detection system transmits the radar waveform, the radar detection system can determine that certain radar transmission parameters are preferred based on the current state (e.g., low interference, greater target identification, radar transmission mode (e.g., autonomous driving), etc.).

[0084] In some aspects, when the offset varies between TTIs, a range domain shift may result as the offset shifts the frequency of the radar waveform (e.g., chirp). In other aspects, when the slope varies between TTIs, a larger energy (or increased noise) may result because the time domain may be compressed or expanded.

[0085] It should be appreciated that in certain aspects, when each TTI is based on one or more radar transmit parameters for an FM-CW radar waveform, additional signal processing (e.g., equalization and resampling) is used for each TTI received by the radar detection system to coherently integrate multiple TTIs. It should be appreciated that the additional signal processing may increase the processing requirements of the radar detection system.

[0086] In certain aspects, equalization may be used and each TTI may be coherently combined by a first Fourier transform (e.g., a fast scale Fourier transform (FFT)) and then by a second Fourier transform (e.g., a slow scale discrete Fourier transform (DFT)) to determine range and then Doppler processing may be performed to determine relative velocity. It should be understood that in certain aspects, small errors may be introduced due to varying parameters each TTI (e.g., due to inaccurate equalization and resampling that may ignore Doppler variations within a single TTI). Thus, it should be understood that in certain aspects, the slope varies over the TTI for interference suppression and the slope varies over the TTI for interference shaping. It should be understood that any combination of one or more radar transmit parameters may be used within the scope of the present disclosure and that each radar transmit parameter or combination thereof may have its own additional signal processing requirements to extrapolate information from a radar waveform received from a radar detection unit that varies substantially randomly.

[0087] In some aspects, Fig.10 Each TTI in is based on one or more radar transmit parameters selected from a codebook. For example, the codebook of radar transmit parameters may include parameters indicating a constant amplitude zero autocorrelation waveform (or CAZAC), such as a Zandoff-Chu (ZC) sequence. In certain aspects, the ZC sequence includes one or more radar transmit parameters that can be selected by the first radar detection system to minimize interference with a second radar waveform transmitted by a second radar detection system (not shown). It should be understood that in certain aspects, the second radar detection system can also change the radar transmit parameters for each TTI (e.g., randomly or using a codebook (e.g., using a ZC-based sequence)). In other aspects, the second radar detection system may use fixed radar transmit parameters, and the first radar detection system may randomly change the radar transmit parameters until the radar detection system selects certain parameters that reduce interference to the second radar detection system (e.g., below a threshold (e.g., a threshold based on a signal-to-interference ratio (SIR)). In other aspects, if the first radar detection system detects a change in interference, it may resume changing one or more radar transmit parameters for each TTI. It should be understood that the radar detection system that selects one or more radar transmit parameters from a codebook may also select one or more radar transmit parameters randomly and in some cases within the same frame.

[0088] Fig.11 A communication device 1100 is shown, which may include a device configured to perform operations for the techniques disclosed herein (such as Fig. 9 The communication device 1100 includes a processing system 1102 coupled to a transceiver 1108. The transceiver 1108 is configured to transmit and receive signals for the communication device 1100, such as the various signals described herein, via an antenna 1110. The processing system 1102 may be configured to perform processing functions for the communication device 1100, including processing signals received and / or transmitted by the communication device 1100.

[0089] The processing system 1102 includes a processor 1104 coupled to a computer readable medium / memory 1112 via a bus 1106. In certain aspects, the computer readable medium / memory 1112 is configured to store instructions that, when executed by the processor 1104, cause the processor 1104 to perform Fig. 9 The operations shown or other operations for performing the various techniques discussed herein.

[0090] In some aspects, the processing system 1102 also includes a selection component 1114 for performing Fig. 9 In addition, the processing system 1102 includes an execution component 1116 for executing Fig. 9 The operations shown in block 904 of . The selection component 1114 and the execution component 1116 can be coupled to the processor 1104 via the bus 1106. In some aspects, the selection component 1114 and the execution component 1116 can be hardware circuits. In some aspects, the selection component 1114 and the execution component 1116 can be software components that are executed and run on the processor 1104.

[0091] The method disclosed herein includes one or more steps or actions for implementing the method. Without departing from the scope of the present claims, the method steps and / or actions can be interchangeable with each other. In other words, unless a specific step or action sequence is specified, the order and / or use of specific steps and / or actions can be modified without departing from the scope of the claims.

[0092] As used herein, a phrase referring to "at least one" of a list of items refers to any combination of those items, including single members. For example, "at least one of a, b, or c" is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination with multiples of the same elements (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbc, cc, and ccc, or any ordering of a, b, and c).

[0093] As used herein, the term "determining" encompasses a variety of actions. For example, "determining" may include calculating, computing, processing, deriving, investigating, querying (e.g., querying in a table, database, or other data structure), ascertaining, etc. In addition, "determining" may include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory), etc. In addition, "determining" may include parsing, selecting, choosing, establishing, etc.

[0094] The above description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications in these aspects will be apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects. Therefore, the claims are not intended to be limited to the various aspects shown herein, but to conform to the full scope consistent with the language of the claims, wherein the reference element in the singular form is not intended to mean "one and only one" (unless specifically stated), but "one or more". Unless otherwise specifically stated, the term "some" refers to one or more. The elements of the various aspects described in the entire disclosure are known to those of ordinary skill in the art or all structural and functional equivalents known thereto are expressly incorporated herein by reference and are intended to be covered by the claims. In addition, any content disclosed herein is not intended to be committed to the public, regardless of whether these disclosures are clearly stated in the claims. Unless the phrase "parts for..." is used to expressly state the elements or the phrase "steps for..." is used to state the elements in the case of method claims, it is prohibited to interpret the claim elements according to the provisions of 35 U.S.C. §112 (f).

[0095] The various operations of the above method can be performed by any suitable components capable of performing the corresponding functions. The components may include various hardware and / or software components and / or modules, including but not limited to circuits, application specific integrated circuits (ASICs), or processors. Typically, where operations are shown in the accompanying drawings, those operations may have corresponding paired components plus functional components with similar numbers.

[0096] The illustrative logical blocks, modules, and circuits different from those described in conjunction with the present invention may be implemented or executed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but alternatively, the processor may be any commercially available processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0097] If implemented in hardware, an example hardware configuration may include a processing system in a wireless node. The processing system may be implemented using a bus architecture. Depending on the specific application and overall design constraints of the processing system, the bus may include any number of interconnecting buses and bridges. The bus may connect various circuits including a processor, a machine-readable medium, and a bus interface together. The bus interface may be used, in particular, to connect a network adapter to the processing system via the bus. The network adapter may be used to implement the signal processing functions of the PHY layer. In the user terminal 120 (see Figure 1 ), a user interface (e.g., a keypad, display, mouse, joystick, etc.) may also be connected to the bus. The bus may also link various other circuits, such as timing sources, peripherals, voltage regulators, power management circuits, etc., which are well known in the art and will not be described any further. The processor may be implemented with one or more general and / or special purpose processors. Examples include microprocessors, microcontrollers, DSP processors, and other circuits that can execute software. Those skilled in the art will recognize how to best implement the described functionality for a processing system depending on the specific application and the overall design constraints imposed on the entire system.

[0098] If implemented in software, the function may be stored as one or more instructions or codes on a computer-readable medium or sent via the computer-readable medium. Software should be generally interpreted as representing instructions, data, or any combination thereof, whether referred to as software, firmware, middleware, microcode, hardware description language, or other forms. Computer-readable media include both computer storage media and communication media (including any media that facilitates the transfer of computer programs from one place to another). The processor may be responsible for managing the bus and general processing, including executing software modules stored on a machine-readable storage medium. The computer-readable storage medium may be coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. In an alternative, the storage medium may be integrated with the processor. For example, the machine-readable medium may include a transmission line, a carrier modulated by data, and / or a computer-readable storage medium having instructions stored thereon separated from a wireless node, all of which may be accessed by the processor through a bus interface. Alternatively or in addition, in the case of a cache and / or a general register file, the machine-readable medium or any part thereof may be integrated into the processor. Examples of machine-readable storage media may include, for example, RAM (random access memory), flash memory, ROM (read-only memory), PROM (programmable read-only memory), EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), registers, magnetic disks, optical disks, hard drives, or any other suitable storage media or any combination thereof. The machine-readable medium may be embodied in a computer program product.

[0099] A software module may include a single instruction or multiple instructions and may be distributed across several different code segments, between different programs, and across multiple storage media. A computer-readable medium may include multiple software modules. The software module includes instructions that, when executed by a device such as a processor, cause a processing system to perform various functions. A software module may include a sending module and a receiving module. Each software module may reside in a single storage device or may be distributed across multiple storage devices. For example, when a triggering event occurs, a software module may be loaded from a hard drive into a RAM. During the execution of a software module, a processor may load some instructions into a cache to increase access speed. One or more cache lines may then be loaded into a general register file for execution by the processor. When referring to the functionality of the software modules below, it should be understood that this functionality is implemented by the processor when the processor executes instructions from the software modules.

[0100] Furthermore, any connection is properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared (IR), radio and microwave, the definition of medium includes the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio and microwave. Disk and optical disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Optical disks, where magnetic disks typically reproduce data magnetically, while optical disks reproduce data optically with the aid of lasers. Thus, in some aspects, computer-readable media may include non-transitory computer-readable media (e.g., tangible media). Additionally, for other aspects, computer-readable media may include transitory computer-readable media (e.g., signals). Combinations of the above should also be included within the scope of computer-readable media.

[0101] Thus, some aspects may include a computer program product for performing the operations presented herein. For example, such a computer program product may include a computer-readable medium having instructions stored (and / or encoded) thereon, the instructions being executable by one or more processors to perform the operations described herein. For example, a computer program product for performing the operations described herein and Fig. 9 Instructions shown.

[0102] In addition, it should be understood that the user terminal and / or base station can download and / or otherwise obtain the modules and / or other appropriate components for performing the methods and techniques described herein as appropriate. For example, this device can be coupled to a server to facilitate the transfer of the components for performing the methods described herein. Alternatively, the various methods described herein can be provided via a storage component (e.g., RAM, ROM, a physical storage medium such as an optical disc (CD) or a floppy disk, etc.), so that the user terminal and / or base station can obtain various methods when the storage component is coupled or provided to the device. In addition, any other suitable technology for providing the methods and techniques described herein to a device can be utilized.

[0103] It is to be understood that the claims are not limited to the precise configuration and components shown above. Various modifications, changes and variations may be made in the arrangement, operation and details of the methods and apparatus described above without departing from the scope of the claims.

Claims

1. A method for performing radar detection by a device, comprising: Sending a radar waveform at a transmission time interval TTI to perform detection of a target object; A subset of multiple radar transmission parameters is selected based on the current conditions of the device by the following steps: selecting, based on at least one of a first transmit mode or a first interference threshold of the apparatus, a first subset of the plurality of radar transmit parameters as the subset; or selecting, based on at least one of a second transmit mode or a second interference threshold of the apparatus, a second subset of the plurality of radar transmit parameters as the subset, wherein the first subset is different from the second subset; as well as The radar waveform across a plurality of TTIs is altered based on the selected subset of the plurality of radar transmit parameters, wherein the altering the radar waveform comprises changing a value of at least one of the selected first subset of the plurality of radar transmit parameters or the selected second subset of the plurality of radar transmit parameters.

2. The method according to claim 1, wherein: The plurality of radar transmission parameters include at least one of waveform parameters, antenna parameters or modulation parameters.

3. The method according to claim 2, wherein: The waveform parameters include at least one of: slope, offset or phase.

4. The method according to claim 2, wherein: The antenna parameters include at least one of: beam form, polarization or antenna selection.

5. The method according to claim 2, wherein: The modulation parameters include at least one of the following: time division multiplexing (TDM) parameters or frequency division multiplexing (FDM) parameters.

6. The method according to claim 1, wherein: One or more of the plurality of radar transmission parameters vary randomly.

7. The method according to claim 1, wherein: One or more of the plurality of radar transmit parameters vary based in part on a codebook.

8. The method of claim 1, further comprising receiving a sidelink communication comprising codebook radar parameters configured to change one or more of the plurality of radar transmit parameters.

9. The method of claim 1, further comprising receiving network communications including radar detection system information configured to change one or more of the plurality of radar transmission parameters.

10. The method according to claim 1, wherein: One or more of the plurality of radar transmission parameters are varied based in part on interference thresholds associated with the one or more of the plurality of radar transmission parameters.

11. The method according to claim 10, wherein: The interference threshold is based in part on the signal-to-interference ratio SIR.

12. The method according to claim 1, wherein: The TTI includes at least one of: a chirp, a set of chirps, a frame, or a time slot.

13. The method according to claim 10, wherein: The interference is based at least in part on one or more radar waveforms from one or more radar sources.

14. The method according to claim 1, wherein: Changing the radar waveform across TTIs based on one or more of the plurality of radar transmission parameters is based at least in part on one or more vehicle-to-everything (V2X) communications.

15. A radar detection device, comprising: Memory; as well as a processor communicatively coupled to the memory, wherein the processor is configured to: Sending a radar waveform at a transmission time interval TTI to perform detection of a target object; A subset of multiple radar transmission parameters is selected based on the current conditions of the radar detection device by the following steps: selecting a first subset of the plurality of radar transmission parameters as the subset based on at least one of a first transmission mode or a first interference threshold of the radar detection device; or Those selecting a second subset of the plurality of radar transmission parameters as the subset based on at least one of a second transmission mode or a second interference threshold of the radar detection device, wherein the first subset is different from the second subset; and The radar waveform is altered across TTIs based on the selected subset of the plurality of radar transmit parameters, wherein the altering the radar waveform comprises changing a value of at least one of the selected first subset of the plurality of radar transmit parameters or the selected second subset of the plurality of radar transmit parameters.

16. The radar detection device according to claim 15, wherein: The plurality of radar transmission parameters include at least one of waveform parameters, antenna parameters or modulation parameters.

17. The radar detection device according to claim 16, wherein: The waveform parameters include at least one of: slope, offset or phase.

18. The radar detection device according to claim 16, wherein: The antenna parameters include at least one of: beam form, polarization or antenna selection.

19. The radar detection device according to claim 16, wherein: The modulation parameters include at least one of the following: time division multiplexing (TDM) parameters or frequency division multiplexing (FDM) parameters.

20. The radar detection device according to claim 15, wherein: One or more of the plurality of radar transmission parameters vary randomly.

21. The radar detection device according to claim 15, wherein: One or more of the plurality of radar transmit parameters vary based in part on a codebook.

22. The radar detection apparatus of claim 15, wherein the processor is further configured to receive a sidelink communication comprising codebook radar parameters configured to change one or more of the plurality of radar transmit parameters.

23. The radar detection apparatus of claim 15, wherein the processor is further configured to receive network communications, the network communications comprising codebook radar parameters configured to change one or more of the plurality of radar transmit parameters.

24. The radar detection device according to claim 15, wherein: One or more of the plurality of radar transmit parameters are varied based in part on an interference threshold associated with the one or more of the plurality of radar transmit parameters.

25. The radar detection device according to claim 24, wherein: The interference threshold is based in part on the signal-to-interference ratio SIR.

26. The radar detection device according to claim 15, wherein: The TTI includes at least one of: a chirp, a set of chirps, a frame, or a time slot.

27. The radar detection device according to claim 24, wherein: The interference is based at least in part on one or more radar waveforms from one or more radar sources.

28. The radar detection device according to claim 15, wherein: The processor is configured to change the radar waveform across TTIs based on one or more of the plurality of radar transmission parameters based at least in part on one or more vehicle-to-everything (V2X) communications.

29. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor of a device, cause the device to perform a method of radar detection, the method comprising: Sending a radar waveform at a transmission time interval TTI to perform detection of a target object; A subset of multiple radar transmission parameters is selected based on the current conditions of the device by the following steps: selecting, based on at least one of a first transmit mode or a first interference threshold of the apparatus, a first subset of the plurality of radar transmit parameters as the subset; or selecting, based on at least one of a second transmit mode or a second interference threshold of the apparatus, a second subset of the plurality of radar transmit parameters as the subset, wherein the first subset is different from the second subset; as well as The radar waveform is altered across TTIs based on the selected subset of the plurality of radar transmit parameters, wherein the altering the radar waveform comprises changing a value of at least one of the selected first subset of the plurality of radar transmit parameters or the selected second subset of the plurality of radar transmit parameters.

30. A component for radar detection by a device, comprising: A component for transmitting a radar waveform at a transmission time interval TTI to perform detection of a target object; Means for selecting a subset of a plurality of radar transmission parameters based on current conditions of the device by the following steps: selecting, based on at least one of a first transmit mode or a first interference threshold of the apparatus, a first subset of the plurality of radar transmit parameters as the subset; or selecting, based on at least one of a second transmit mode or a second interference threshold of the apparatus, a second subset of the plurality of radar transmit parameters as the subset, wherein the first subset is different from the second subset; as well as Means for altering the radar waveform across TTIs based on the selected subset of the plurality of radar transmit parameters, wherein altering the radar waveform comprises altering a value of at least one of the selected first subset of the plurality of radar transmit parameters or the selected second subset of the plurality of radar transmit parameters.

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